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<a href="primitive__collision__queries_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PRIMITIVE_COLLISION_QUERIES_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PRIMITIVE_COLLISION_QUERIES_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;assert.h&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="point_8h.html">collision/narrowphase/point.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__aabb_8h.html">collision/narrowphase/rectangle_aabb.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__obb_8h.html">collision/narrowphase/rectangle_obb.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sphere_8h.html">collision/narrowphase/sphere.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="triangle_8h.html">collision/narrowphase/triangle.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape__group_8h.html">collision/shape_group.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="time__variant__collision__object_8h.html">collision/time_variant_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">namespace </span>solverPrimitive {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html">   25</a></span>&#160;<span class="keyword">namespace </span>primitive_queries {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="primitive__collision__queries_8h.html#a002b2f4894492820fe708b1b7e7c5e70">   27</a></span>&#160;<span class="preprocessor">#define EPSILON (1e-05)</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">   29</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point_first,</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point_second) {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  Eigen::Vector2d d = point_first.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() - point_second.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>();</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordflow">if</span> (d.squaredNorm() &lt;= <a class="code" href="primitive__collision__queries_8h.html#a002b2f4894492820fe708b1b7e7c5e70">EPSILON</a>)</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;}</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a61d66de3d8e36a55fd4b69581c36b707">   37</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb) {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  Eigen::Vector2d p = point.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() - aabb.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>();</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordflow">if</span> (fabs(p(0)) &lt;= aabb.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5192f1f870c35a9b607ac7cdc36a4a34">r_x</a>() &amp;&amp; fabs(p(1)) &lt;= aabb.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a10f1ed5c2b164821f0f876d0345e2a01">r_y</a>())</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;}</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a8df68e27285972488643d7a68559a186">   45</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> &amp;sphere) {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  Eigen::Vector2d p = point.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() - sphere.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordflow">if</span> (p.squaredNorm() &lt;= pow(sphere.<a class="code" href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">radius</a>(), 2))</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">// Computes if two AABBs collide.</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">// From: C. Ericson, Real-Time Collision Detection, pp. 80, 2004</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">// Return true if objects collide</span></div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a867c925be1a5747ebf634b061143554d">   56</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb_first,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb_second) {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> (fabs(aabb_first.<a class="code" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a>() - aabb_second.<a class="code" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a>()) &gt;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      (aabb_first.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5192f1f870c35a9b607ac7cdc36a4a34">r_x</a>() + aabb_second.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5192f1f870c35a9b607ac7cdc36a4a34">r_x</a>())) {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">if</span> (fabs(aabb_first.<a class="code" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a>() - aabb_second.<a class="code" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a>()) &gt;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      (aabb_first.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a10f1ed5c2b164821f0f876d0345e2a01">r_y</a>() + aabb_second.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a10f1ed5c2b164821f0f876d0345e2a01">r_y</a>())) {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;}</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a80a27bf2e8dd3710a3a61fcd192afc23">   69</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb,</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb) {</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  Eigen::Matrix2d aabb_axes;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  aabb_axes &lt;&lt; 1, 0, 0, 1;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">// Compute rotation matrix expression second in first&#39;s coordinate frame</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  Eigen::Matrix2d R = aabb_axes.transpose() * obb.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">local_axes</a>();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// Compute the translation vector between the boxes in first&#39;s coordinate</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// frame</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  Eigen::Vector2d t = aabb_axes.transpose() * (obb.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() - aabb.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>());</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// Project B onto A&#39;s axes</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 2; i++) {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">double</span> r_first = aabb.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a606d3a5c1ca0f607ab2419f46caffcca">r</a>(i);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">double</span> r_second = obb.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() * fabs(R(i, 0)) + obb.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() * fabs(R(i, 1));</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">if</span> (fabs(t(i)) &gt; r_first + r_second)</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  }</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 2; i++) {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordtype">double</span> r_first = aabb.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a5192f1f870c35a9b607ac7cdc36a4a34">r_x</a>() * fabs(R(0, i)) + aabb.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a10f1ed5c2b164821f0f876d0345e2a01">r_y</a>() * fabs(R(1, i));</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">double</span> r_second = obb.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">r</a>(i);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">double</span> t_proj = fabs(t.transpose() * R.col(i));</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">if</span> (t_proj &gt; r_first + r_second)</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">// Computes if two OBBs collide.</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">// From: C. Ericson, Real-Time Collision Detection, pp. 103-105, 2004</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="comment">// Return true if objects collide</span></div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a426d31fab4abf8c830dad54146c2aa2a">  104</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb_first,</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb_second) {</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">// Compute rotation matrix expression second in first&#39;s coordinate frame</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  Eigen::Matrix2d R =</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      obb_first.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">local_axes</a>().transpose() * obb_second.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">local_axes</a>();</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">// Compute the translation vector between the boxes in first&#39;s coordinate</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="comment">// frame</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  Eigen::Vector2d t = obb_first.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">local_axes</a>().transpose() *</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                      (obb_second.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() - obb_first.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>());</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">// Project B onto A&#39;s axes</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 2; i++) {</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">double</span> r_first = obb_first.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">r</a>(i);</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordtype">double</span> r_second =</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        obb_second.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() * fabs(R(i, 0)) + obb_second.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() * fabs(R(i, 1));</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">if</span> (fabs(t(i)) &gt; r_first + r_second)</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">// Project A onto B&#39;s axes</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 2; i++) {</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordtype">double</span> r_first =</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        obb_first.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() * fabs(R(0, i)) + obb_first.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() * fabs(R(1, i));</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordtype">double</span> r_second = obb_second.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">r</a>(i);</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordtype">double</span> t_proj = fabs(t.transpose() * R.col(i));</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">if</span> (t_proj &gt; r_first + r_second)</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  }</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;} <span class="comment">// namespace primitive_queries</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;} <span class="comment">// namespace solverPrimitive</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html">collision::RectangleOBB</a></div><div class="ttdoc">Oriented rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00016">rectangle_obb.h:16</a></div></div>
<div class="ttc" id="shape__group_8h_html"><div class="ttname"><a href="shape__group_8h.html">shape_group.h</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a606d3a5c1ca0f607ab2419f46caffcca"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a606d3a5c1ca0f607ab2419f46caffcca">collision::RectangleAABB::r</a></div><div class="ttdeci">Eigen::Vector2d r() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00064">rectangle_aabb.cc:64</a></div></div>
<div class="ttc" id="point_8h_html"><div class="ttname"><a href="point_8h.html">point.h</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_ae767114da43f038e805f6bd6aada716b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">collision::RectangleOBB::r_y</a></div><div class="ttdeci">double r_y() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00086">rectangle_obb.cc:86</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="sphere_8h_html"><div class="ttname"><a href="sphere_8h.html">sphere.h</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a357c27f00803a8d358a24ebea1fff74b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">collision::RectangleOBB::r_x</a></div><div class="ttdeci">double r_x() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00084">rectangle_obb.cc:84</a></div></div>
<div class="ttc" id="triangle_8h_html"><div class="ttname"><a href="triangle_8h.html">triangle.h</a></div></div>
<div class="ttc" id="time__variant__collision__object_8h_html"><div class="ttname"><a href="time__variant__collision__object_8h.html">time_variant_collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html"><div class="ttname"><a href="classcollision_1_1_sphere.html">collision::Sphere</a></div><div class="ttdoc">Circle.</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00014">sphere.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_aa04315b4bc2bc28d1ced5223a06160d7"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">collision::RectangleOBB::r</a></div><div class="ttdeci">Eigen::Vector2d r() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00071">rectangle_obb.cc:71</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a10f1ed5c2b164821f0f876d0345e2a01"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a10f1ed5c2b164821f0f876d0345e2a01">collision::RectangleAABB::r_y</a></div><div class="ttdeci">double r_y() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00086">rectangle_aabb.cc:86</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a></div><div class="ttdoc">Axis-aligned rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00018">rectangle_aabb.h:18</a></div></div>
<div class="ttc" id="rectangle__aabb_8h_html"><div class="ttname"><a href="rectangle__aabb_8h.html">rectangle_aabb.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries_html_a7634f2af24f8eae26ac9b137a8255c78"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">collision::solvers::solverPrimitive::primitive_queries::collisionDetection</a></div><div class="ttdeci">bool collisionDetection(const Point &amp;point_first, const Point &amp;point_second)</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__queries_8h_source.html#l00029">primitive_collision_queries.h:29</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a690571543f14979499df6fbada671f1f"><div class="ttname"><a href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">collision::Shape::center_x</a></div><div class="ttdeci">double center_x() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00018">shape.cc:18</a></div></div>
<div class="ttc" id="rectangle__obb_8h_html"><div class="ttname"><a href="rectangle__obb_8h.html">rectangle_obb.h</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aabac3270d60bb5affed693af36fd39d8"><div class="ttname"><a href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">collision::Shape::center_y</a></div><div class="ttdeci">double center_y() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00020">shape.cc:20</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_ac773bc522d6d9dacf188ce25330efa31"><div class="ttname"><a href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">collision::Sphere::radius</a></div><div class="ttdeci">double radius() const</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00049">sphere.h:49</a></div></div>
<div class="ttc" id="primitive__collision__queries_8h_html_a002b2f4894492820fe708b1b7e7c5e70"><div class="ttname"><a href="primitive__collision__queries_8h.html#a002b2f4894492820fe708b1b7e7c5e70">EPSILON</a></div><div class="ttdeci">#define EPSILON</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__queries_8h_source.html#l00027">primitive_collision_queries.h:27</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html"><div class="ttname"><a href="classcollision_1_1_point.html">collision::Point</a></div><div class="ttdoc">A point in space.</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00018">point.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a5192f1f870c35a9b607ac7cdc36a4a34"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a5192f1f870c35a9b607ac7cdc36a4a34">collision::RectangleAABB::r_x</a></div><div class="ttdeci">double r_x() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00084">rectangle_aabb.cc:84</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a62c69f93584a09fcc31eeccb1f2a112e"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">collision::RectangleOBB::local_axes</a></div><div class="ttdeci">Eigen::Matrix2d local_axes() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00061">rectangle_obb.cc:61</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aca9a2f6e0de0822e241e39dad9c419ce"><div class="ttname"><a href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">collision::Shape::center</a></div><div class="ttdeci">Eigen::Vector2d center() const</div><div class="ttdoc">Get geometric center of shape.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00016">shape.cc:16</a></div></div>
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